제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A discrete iterative learning control method with application to electric servo motor control

  • Park, Hee-J. (Department of Production Engineering, Korea Advanced Institute of Science and Technology, P.O.Box 150, ChongryangriDepartment of Production Engineering, Korea Advanced Institute of Science and Technology, P.O.Box 150, Chongryangricontrol Systems Labolatory Korea Institute of ScienceandTechnology) ;
  • Cho, Hyung-S. ;
  • Oh, Sang-R.
  • Published : 1990.10.01
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Abstract

In this paper, an iterative learning control algorithm for unknown linear discrete systems is proposed by employing a parameter estimator together with an inverse system model. Regardless of initial error and inherent parameter uncertainty, a good tracking control performance is obtained using the proposed learning control algorithm characterized by recursive operations. A sufficient condition for convergency is provided to show the effectiveness of the proposed algorithm. To investigate the performance of the algorithm a series of simulations and experiments were performed for the tracking control of a servo motor.

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